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\begin{document}
\frontmatter
\include{titlepage}

\include{abstract}

\mainmatter
\section{Article outline}
\subsection{Introduction}
% Introductie en context
% Onderzoeksvraag
Introduces the reader to telepresence, and it is based on my literature research on haptic information systems and other telepresence systems.  This will give the reader the practical context of the software system.

In a subsection I will present the research question.  In the next subsection I explain where to find what. ``In Chapter X I show that Y. Section A gives an introduction to B'''.

\subsection{Theory}
% Aanpak en methode
Gives the reader the needed mathematical framework.  Introduces terms used in robotics.  Gives a basic introduction to (classical) forward and inverse kinematics, and to geometric algebra.

\subsection{Approach}
% Aanpak en methode
Explains how the solution space of the inverse kinematics solver is limited, and what is done to keep the results in this solution space.  It contains the results of my geometrical algebra research part.

\subsection{Results}
% Resultaten
Discusses the implementation of the software, and how well it works.  I might find a measure for how well it works.  It contains the results of my programming work.

\subsection{Conclusion}
% Conclusies uit de resultaten
Basically a recap of the whole research.

\subsection{Discussion and future work}
% Discussie en toekomstig werk
What would be cool to research later.

\subsection{Appendices}
\subsubsection{Validity of FABRIK}
The inverse kinematics solver I use, works iteratively and heuristically.  It hasn't been proven to converge yet, and I will try to deliver that proof.

\backmatter
\subsubsection{Bibliography}
Speaks for itself.

\section{Main tasks}
\begin{itemize}
\item The result of the literature study of telepresence and haptic information systems can be found in ``Introduction'', and probably as well in the ``Conclusion'' and ``Discussion''.
\item The result of the literature study of geometric algebra and inverse kinematics can be found in ``Theory'' and appendix ``Validity of FABRIK'', and probably as well in the ``Conclusion'' and ``Discussion''.  It is applied in ``Approach''.
\item The result of the programming tasks is discussed in ``Results''.
\end{itemize}

\section{Content of sections}
See the first section.

\section{How the sections relate}
\begin{itemize}
\item Section 1 gives a motivation for the system described in section 4.
\item Section 2 provides some basic background knowledge to know what happens in section 3.
\item Section 4 implements the approach of section 3.
\item Appendix A provides a proof for the algorithm used in section 3.
\end{itemize}
\end{document}
